CN113301619A - Frequency band self-adaptive unmanned aerial vehicle communication system and method - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/0005—Control or signalling for completing the hand-off
- H04W36/0083—Determination of parameters used for hand-off, e.g. generation or modification of neighbour cell lists
- H04W36/0085—Hand-off measurements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/005—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission adapting radio receivers, transmitters andtransceivers for operation on two or more bands, i.e. frequency ranges
- H04B1/0064—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission adapting radio receivers, transmitters andtransceivers for operation on two or more bands, i.e. frequency ranges with separate antennas for the more than one band
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/40—Circuits
- H04B1/401—Circuits for selecting or indicating operating mode
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/06—Reselecting a communication resource in the serving access point
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/24—Reselection being triggered by specific parameters
- H04W36/30—Reselection being triggered by specific parameters by measured or perceived connection quality data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/02—Terminal devices
- H04W88/06—Terminal devices adapted for operation in multiple networks or having at least two operational modes, e.g. multi-mode terminals
Abstract
The invention discloses a frequency band self-adaptive unmanned aerial vehicle communication system and method, belonging to the technical field of wireless communication of the Internet of things, wherein the method comprises the following steps: the main control unit of the transmitting terminal and the receiving terminal of unmanned aerial vehicle communication respectively controls the radio frequency module working at two frequency bands of 2.4GHz and 433MHz to communicate, the design has realized the unmanned aerial vehicle self-adaptation communication link based on long-distance radio loRa, select suitable self-adaptation switching decision condition, let unmanned aerial vehicle self-adaptation switch at 2.4GHz and 433MHz frequency band, when data transmission closely, select to communicate at 2.4GHz frequency band one way, when middle appropriate distance data transmission, select two frequency band double-circuit parallel communication of 433MHz and 2.4GHz, when long-distance data transmission, select to communicate at 433MHz frequency band one way, maximize data transmission rate, strengthen the interference killing feature, maximize transmission distance when guaranteeing system communication reliability and robustness.
Description
Technical Field
The invention relates to the technical field of wireless communication of the Internet of things, in particular to a frequency band self-adaptive unmanned aerial vehicle communication system and method, which improve the system robustness, transmission rate and anti-interference performance of unmanned aerial vehicle communication.
Background
With the rapid development of science and technology, unmanned aerial vehicles are undergoing the same military and civil integration development as high-tech equipment such as man-machine and global positioning system in military and civil fields. The 'unmanned aerial vehicle + industry application' is developed vigorously, and the development prospect is wide, so people can study unmanned aerial vehicles more deeply, especially in the field of unmanned aerial vehicle communication, the unmanned aerial vehicles are required to adapt to remote communication, and the unmanned aerial vehicles have high data transmission rate and strong interference.
Along with the rapid development of unmanned aerial vehicles, more and more unmanned aerial vehicles share frequency channel resources, causing the interference to aggravate gradually, the most commonly used wireless frequency channel is three kinds 2.4GHz, 900MHz, 433MHz at present. Traditional unmanned aerial vehicle communication mainly adopts the single-channel single-frequency band to communicate, and the continuous communication of unmanned aerial vehicle when the single-channel transmission can't guarantee to cause the communication to break by the force factor of inequality, though to the research of multichannel parallel communication at present, has improved data transmission's rate, still communicates the single-frequency band, and single-frequency band communication makes unmanned aerial vehicle can only have fixed frequency channel advantage, and the same frequency channel communication causes the series-frequency interference easily moreover.
The rapid development and wide application of the unmanned aerial vehicle make higher requirements on the communication performance of the unmanned aerial vehicle, and how to utilize the advantages of multi-band communication becomes an urgent requirement in the field of unmanned aerial vehicles because the unmanned aerial vehicle needs high speed, low power consumption, long distance, strong interference and other performances.
Disclosure of Invention
The purpose of the invention is as follows: in view of the defects of the prior art, the present invention aims to provide a frequency band adaptive unmanned aerial vehicle communication system and method, which can adaptively select a communication frequency band for communication according to communication quality, ensure communication robustness, and improve data transmission efficiency and anti-interference performance.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:
a frequency band self-adaptive unmanned aerial vehicle communication system comprises an unmanned aerial vehicle end and a remote control end, wherein the unmanned aerial vehicle end and the remote control end respectively comprise a microcontroller and a plurality of radio frequency communication modules working at different frequency bands; the microcontroller comprises a communication condition parameter acquisition module and a mode self-adaptive switching module; the communication condition parameter acquisition module is used for sending a check frame to acquire an RSSI value, a frame error rate and a distance value of a current communication mode; the mode self-adaptive decision switching module is used for completing switching of the communication mode according to the RSSI value, the frame error rate and the distance value.
The unmanned aerial vehicle communication method based on the system comprises the following steps:
step 1: the method comprises the steps that an unmanned aerial vehicle end sends a check frame, a system RSSI value, a frame error rate and a distance value are obtained, judgment switching is carried out according to set switching judgment conditions, namely switching threshold values of the RSSI value, the frame error rate and the distance value, and therefore the optimal data transmission rate and the optimal anti-interference performance are achieved;
step 2: the unmanned aerial vehicle communication system adaptively switches communication modes;
step 2-1: the unmanned aerial vehicle remote control end sends a check frame, calculates a frame error rate to obtain an RSSI value and a distance value, judges whether a switching judgment condition is met, generates a communication mode switching request by the sending end when the switching condition is met, and then sends a communication mode switching instruction to the receiving end.
Step 2-2: and after receiving the switching instruction of the sending end, the receiving end confirms the switching communication mode and sends confirmation information to the receiving end.
Step 2-3: and after the sending end sends the last instruction, immediately switching the communication mode, updating the communication mode information of the data to be sent, and sending the data to be sent by adopting a new communication mode.
Step 2-4: the receiving end enters a communication mode switching preparation state after receiving the request confirmation information sent by the sending end, and simultaneously sends the communication mode confirmation information again, so that the reliability of mode switching and the consistency of the communication modes between the receiving end and the sending end are ensured.
And step 3: and splitting, packaging and scheduling the two paths of data at the sending end, and analyzing and recovering the CRC and the two paths of data at the receiving end.
Preferably, in step 1, the RSSI threshold is an important indicator in the adaptive handover algorithm, and is used as a threshold for determining the reliability of the adaptive handover as a decision condition of the adaptive handover algorithm is accurate, and the handover threshold of the RSSI value can be determined according to the free space loss model.
The free space loss model is:
LS＝20log(f)MHz+20log(d)Km+32.45
wherein L isSFor transmission loss, f is the communication frequency and d is the distance of transmission.
For the main control chip of the microcontroller, STM32F407VET6 is selected, and two different frequency band radio frequency communication modules are selected from an E19-433M30S module and an E28-2G4M20S module:
when 433MHz frequency band is adopted, namely f is 433MHz, the free space loss formula is simplified as:
Ls＝20log(d)Km+85
according to the technical manual of the E19-433M30S module of the 433MHz frequency band, the farthest communication distance can reach 10km, in the actual working process, due to the influence of hardware equipment, communication environment and other factors, the actual effective communication distance is 300M-1900M, namely when the value of d is 0.3 and 1.9, the value range of Ls is calculated according to a formula and is 74.5dBm to 90.6dBm, wherein the actual transmitting power of the radio frequency module is set to be 20dBm, the theoretical RSSI value range is-54.5 dBm to-70.6 dBm, and the RSSI threshold value is-54.5 dBm and-70.6 dBm under the 433MHz communication frequency band.
When the frequency band of 2.4GHz, namely f, is 2.4GHz, the free space loss formula is simplified as follows:
Ls＝20log(d)Km+100
according to the technical manual of the E28-2G4M20S module of the 2.4GHz frequency band, the farthest communication distance can reach 6km, in the actual working process, due to the influence of factors such as hardware equipment, communication environment and the like, the actual effective communication distance is 1M-300M, namely when the value of d is 0.001 and 0.3, the value range of Ls is calculated according to a formula and ranges from 40.0dBm to 89.5.0dBm, wherein the actual transmitting power of the radio frequency module is set to be 20dBm, the theoretical RSSI value range can be-20.0 dBm to-69.5 dBm, and the RSSI threshold value is-20.0 dBm to-69.5 dBm under the 2.4GHz communication frequency band.
Preferably, the handover decision condition in step 1 is:
when the distance value is in the range of 0-300m and the RSSI value is greater than-70 dBm under the condition that the frame error rate is within 1%, switching to 2.4GHz frequency band communication; the two frequency bands of 2.4GHz and 433MHz are in parallel communication when the distance value is within the range of 300m-1900m and the RSSI value is greater than-70 dBm, and the two frequency bands are switched to 433MHz frequency band communication when the distance value is within the range of 1900m-5000m and the RSSI value is greater than-80 dB.
Preferably, in step 2, the handover can be performed quickly and accurately, and erroneous handover and ping-pong handover are avoided. For solving the problem of wrong handover, reasonable handover decision conditions need to be set. On one hand, the RSSI value is monotonically decreased along with the increase of the transmission distance, and the strength of the communication signal of the unmanned aerial vehicle can be judged stably through the increase and decrease of the RSSI value, and on the other hand, the probability of frame transmission errors in the data transmission process, that is, the high or low level of the frame error rate reflects the quality of the wireless channel, and the high level of the frame error rate indicates that the quality of the wireless channel is not good, and corresponding parameters need to be adjusted or the communication mode needs to be switched, so that the frame error rate is smaller than a certain value. For solving the ping-pong switching problem, the time for confirming the switching is set as a buffer area when the RSSI value, the frame error rate value and the distance value are used as judgment parameters, namely, the link switching is not carried out immediately when the judgment conditions are met, but whether the set switching confirmation time is reached needs to be judged at the same time, thereby effectively solving the problem of frequent switching in the link communication process.
Preferably, in step 3, the data splitting and packing scheduling process at the sending end is as follows: under the condition that the sending end judges that the double-path double-frequency parallel communication is selected, the data to be sent are divided into a plurality of data segments, and each data segment needs to be marked so that the receiving end can correctly analyze and integrate. And then, carrying out data scheduling on the formed data packet, distributing the data packet according to the transmission capacities of two paths of different frequency bands, and carrying out data transmission according to the communication modes of the different frequency bands.
The receiving end data receiving and integrating process comprises the following steps: and the receiving end adopts the CRC to carry out error detection retransmission, so that the accuracy and the validity of data transmission are ensured, the accurate data are analyzed and integrated, and the data sent by the sending end are successfully recovered according to the mark of the sending end.
Has the advantages that: compared with the prior art, the invention has the advantages that: the frequency band self-adaptive unmanned aerial vehicle communication system described by the invention is assisted by a frequency band self-adaptive switching method, can utilize the advantages of different frequency bands, maximizes the data transmission rate, enhances the anti-interference capability, and maximizes the transmission distance while ensuring the reliability and robustness of system communication.
Drawings
Fig. 1 is a system hardware platform according to an embodiment of the present invention.
Fig. 2 is a flowchart of the overall software design of the unmanned aerial vehicle adaptive communication system according to the embodiment of the present invention.
Fig. 3 is a block diagram of an adaptive handover band decision according to an embodiment of the present invention.
Fig. 4 is a scheme of adaptively switching communication modes in a system according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
As shown in fig. 1, the present invention is a system hardware platform, and an embodiment of the present invention discloses a frequency-band adaptive unmanned aerial vehicle communication system, which includes an unmanned aerial vehicle end and a remote control end. In order to realize frequency band adaptation to improve data transmission rate and interference immunity, the following requirements are specifically set forth: the ground remote control end and the unmanned aerial vehicle end of unmanned aerial vehicle all can regard as sending terminal and receiving terminal. The main control chip and the radio frequency chip used by the design of the two hardware platforms are the same. The main control chip selects STM32F407VET6, and in order to reduce the development difficulty and improve the signal quality, the radio frequency communication modules all adopt specific modules, the radio frequency communication 1 selects an E19-433M30S module, the radio frequency communication 2 selects an E28-2G4M20S module, and the antenna selects an omnidirectional antenna.
As shown in fig. 2, it is a flow chart of the whole software design of the unmanned aerial vehicle adaptive communication system, and the specific requirements are as follows: and after the system is powered on and started, initializing and setting each module. Then, two paths are set to be in a LoRa mode, communication modes SX1280 and SX1278 send check frames, response is received within limited time, another data transmission channel is switched immediately when no response is in time, the frame error rate and the RSSI value are obtained, meanwhile, SX1280 is set to be in a distance measurement mode, the current distance value is obtained, and a 2.4GHz module or a 433MHz module is selected to communicate or two modules communicate in parallel according to the obtained frame error rate, the RSSI value and the distance value and the judgment condition in a self-adaptive mode.
When the frame error rate is within 1 percent and the distance value is within the range of 0-300m and the RSSI value is greater than-70 dBm, switching to 2.4GHz frequency band communication, and setting the frequency band communication as a GFSK modulation mode for data transmission; the two frequency bands of 2.4GHz and 433MHz are subjected to parallel communication when the distance value is within the range of 300-1900m and the RSSI value is greater than-70 dBm; when the distance value is in the range of 1900-5000m and the RSSI value is larger than-80 dB, the communication is switched to the 433MHz frequency band, and LoRa modulation is set for data transmission.
As shown in fig. 3, it is a block diagram of adaptive handover band decision, specifically requiring the following: the RSSI threshold value is an important index in the adaptive switching algorithm, the threshold value which is used as the accurate judgment condition of the adaptive switching algorithm determines the reliability of the adaptive switching, and the switching threshold value of the RSSI value can be determined according to a free space loss model.
The free space loss model is:
LS＝20log(f)MHz+20log(d)Km+32.45
wherein LS is transmission loss, f is communication frequency, and d is transmission distance. When 433MHz frequency band is adopted, namely f is 433MHz, the free space loss formula is simplified as:
Ls＝20log(d)Km+85
according to the technical manual of the E19-433M30S module of the 433MHz frequency band, the farthest communication distance can reach 10km, in the actual working process, due to the influence of hardware equipment, communication environment and other factors, the actual effective communication distance is 300M-1900M, namely when the value of d is 0.3 and 1.9, the value range of Ls is calculated according to a formula and is 74.5dBm to 90.6dBm, wherein the actual transmitting power of the radio frequency module is set to be 20dBm, the theoretical RSSI value range is-54.5 dBm to-70.6 dBm, and the RSSI threshold value is-54.5 dBm and-70.6 dBm under the 433MHz communication frequency band.
When the frequency band of 2.4GHz, namely f, is 2.4GHz, the free space loss formula is simplified as follows:
Ls＝20log(d)Km+100
according to the technical manual of the E28-2G4M20S module of the 2.4GHz frequency band, the farthest communication distance can reach 6km, in the actual working process, due to the influence of factors such as hardware equipment, communication environment and the like, the actual effective communication distance is 1M-300M, namely when the value of d is 0.001 and 0.3, the value range of Ls is calculated according to a formula and ranges from 40.0dBm to 89.5.0dBm, wherein the actual transmitting power of the radio frequency module is set to be 20dBm, the theoretical RSSI value range can be-20.0 dBm to-69.5 dBm, and the RSSI threshold value is-20.0 dBm to-69.5 dBm under the 2.4GHz communication frequency band.
As shown in fig. 4, it is a scheme for adaptively switching communication modes of a system, and the specific requirements are as follows: (1) the unmanned aerial vehicle remote control end sends a check frame, calculates a frame error rate to obtain an RSSI value and a distance value, judges whether a switching judgment condition is met, generates a communication mode switching request by the sending end when the switching condition is met, and then sends a communication mode switching instruction to the receiving end. (2) And after receiving the switching instruction of the sending end, the receiving end confirms the switching communication mode and sends confirmation information to the receiving end. (3) And after the sending end sends the last instruction, immediately switching the communication mode, updating the communication mode information of the data to be sent, and sending the data to be sent by adopting a new communication mode. (4) The receiving end enters a communication mode switching preparation state after receiving the request confirmation information sent by the sending end, and simultaneously sends the communication mode confirmation information again, so that the reliability of mode switching and the consistency of the communication modes between the receiving end and the sending end are ensured.
The sending end needs to send a check frame to judge the communication quality under each communication mode, and the frequency band is adaptively switched. Firstly, setting a LoRa mode, transmitting a check frame by SX1278 and SX1280, setting SX1280 as a distance measurement mode, then setting the mode as a receiving mode, receiving a response of a receiving end, acquiring a frame error rate, an RSSI value and a distance value, and switching to 2.4GHz frequency band communication when the distance value is within the range of 0-300m and the RSSI value is greater than-70 dBm under the condition that the frame error rate is within 1%; the two frequency bands of 2.4GHz and 433MHz are in parallel communication when the distance value is in the range of 300-1900m and the RSSI value is greater than-70 dBm, and the frequency band of 433MHz is switched to the frequency band of 433MHz for communication when the distance value is in the range of 1900-5000m and the RSSI value is greater than-80 dB.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications can be made without departing from the principles of the invention and these modifications are to be considered within the scope of the invention.
Claims (8)
1. A frequency band self-adaptive unmanned aerial vehicle communication system comprises an unmanned aerial vehicle end and a remote control end, and is characterized in that the unmanned aerial vehicle end and the remote control end respectively comprise a microcontroller and a plurality of radio frequency communication modules working at different frequency bands; the microcontroller comprises a communication condition parameter acquisition module and a mode self-adaptive switching module; the communication condition parameter acquisition module is used for sending a check frame to acquire an RSSI value, a frame error rate and a distance value of a current communication mode; the mode self-adaptive decision switching module is used for completing switching of the communication mode according to the RSSI value, the frame error rate and the distance value.
2. Unmanned aerial vehicle communication method based on the system of claim 1, characterized by comprising the following steps:
step 1: the method comprises the steps that an unmanned machine end sends a detection frame, a system RSSI value, a frame error rate and a distance value are obtained, judgment switching is carried out according to set switching judgment conditions, namely switching threshold values of the RSSI value, the frame error rate and the distance value, and therefore the optimal data transmission rate and the optimal anti-interference performance are achieved;
step 2: the unmanned aerial vehicle communication system adaptively switches communication modes;
and step 3: and splitting, packaging and scheduling the two paths of data at the sending end, and analyzing and recovering the CRC and the two paths of data at the receiving end.
3. The unmanned aerial vehicle communication method of claim 2, wherein step 2 specifically comprises:
step 2-1: the remote control end sends a check frame, calculates a frame error rate to obtain an RSSI value and a distance value, judges whether a switching judgment condition is met, generates a communication mode switching request when the switching condition is met, and then sends a communication mode switching instruction to the unmanned aerial vehicle end;
step 2-2: after receiving a switching instruction of a sending end, the unmanned aerial vehicle end confirms the switching of the communication mode and sends confirmation information to the remote control end;
step 2-3: after the unmanned aerial vehicle end finishes sending a last instruction, switching the communication mode immediately, updating the communication mode information of the data to be sent, and sending the data to be sent by adopting a new communication mode;
step 2-4: the remote control end enters a communication mode switching preparation state after receiving the request confirmation information sent by the sending end, and simultaneously sends the communication mode confirmation information again, so that the reliability of mode switching and the consistency of the communication mode between the receiving end and the sending end are ensured.
4. The method of claim 2, wherein in step 1, a switching threshold for the RSSI value is determined based on a free space loss model.
5. The unmanned aerial vehicle communication method of claim 4, wherein for a situation that a main control chip of the microcontroller selects STM32F407VET6, two different frequency band radio frequency communication modules select an E19-433M30S module and an E28-2G4M20S module: under the 433MHz communication frequency band, the RSSI threshold value is-54.5 dBm and-70.6 dBm; and the RSSI threshold value is between-20.0 dBm and-69.5 dBm under the 2.4GHz communication frequency band.
6. The UAV communication method according to claim 5, wherein the handover decision condition in step 1 is:
when the distance value is in the range of 0-300m and the RSSI value is greater than-70 dBm under the condition that the frame error rate is within 1%, switching to 2.4GHz frequency band communication; the two frequency bands of 2.4GHz and 433MHz are in parallel communication when the distance value is within the range of 300m-1900m and the RSSI value is greater than-70 dBm, and the two frequency bands are switched to 433MHz frequency band communication when the distance value is within the range of 1900m-5000m and the RSSI value is greater than-80 dB.
7. The UAV communication method according to claim 2, wherein in step 2, the time for confirming the handover is set as a buffer when the RSSI value, the frame error rate value and the distance value are used as the decision parameters, that is, when the decision condition is satisfied, the link handover is not performed immediately, but it is determined whether the set time for confirming the handover is reached.
8. The UAV communication method according to claim 2, wherein in step 3, the sender data splitting and packing scheduling process is: the method comprises the steps that a sending end divides data to be sent into a plurality of data segments under the condition that double-path double-frequency parallel communication is judged to be selected, each data segment needs to be marked in order that a receiving end can correctly analyze and integrate, then a formed data packet is subjected to data scheduling, the data packet is distributed according to transmission capacities of two paths of different frequency bands, and data is transmitted according to communication modes of the different frequency bands; and the receiving end adopts the CRC to carry out error detection retransmission, analyzes and integrates accurate data, and successfully recovers the data sent by the sending end according to the mark of the sending end.
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